Needle positioning apparatus and method

Abstract

Apparatus for accurate positioning of a needle guide is disclosed. The apparatus provides a means for taking as input the position vector for the point of insertion of the needle into the body. This point of insertion can be selected from images produced by a Computer Tomography system. Similarly, the apparatus has a means for taking as input the point of target. A controller determines the directional vector between point of insertion and point of target. A guide manipulator accurately positions the needle guide in line with the directional vector, such that the needle can easily be inserted through the guide to the point of target. The positioning of the guide manipulator in accordance with the directional vector is done with the help of motors.

What is claimed is: 
     
         1 . A method, comprising:
 moving a patient cradle from a first location disposed within an imaging space of an imaging device to a second location outside of the imaging space;   positioning at a location relative to the imaging system when the patient cradle is at the second location a mobile needle positioning device having a needle guide;   after the positioning, actuating the mobile needle positioning device to cause the needle guide to be moved to a fixed target location outside of the imaging space; and   after the actuating, inserting a needle through an opening defined by the needle guide and into the patient at an insertion point on the patient.   
     
     
         2 . The method of  claim 1 , wherein the inserting the needle includes manually inserting the needle through the opening of the needle guide. 
     
     
         3 . The method of  claim 1 , wherein the inserting the needle includes advancing the needle a distance substantially equal to a length of the needle. 
     
     
         4 . The method of  claim 1 , wherein the inserting the needle includes advancing the needle a distance substantially equal to a length of the needle until the needle reaches a target point within the patient. 
     
     
         5 . The method of  claim 1 , further comprising:
 prior to the moving the patient cradle from the first location to the second location, moving the patient cradle to the first location with the patient disposed on the patient cradle; and   after moving the patient cradle to the first location, actuating the imaging device to image a target area on the patient.   
     
     
         6 . The method of  claim 1 , further comprising:
 prior to the inserting the needle, locking the mobile needle positioning device at the location relative to the imaging system.   
     
     
         7 . The method of  claim 1 , wherein the inserting the needle includes advancing the needle such that a predetermined portion of the needle is inserted within the patient until the needle reaches a target point within the patient. 
     
     
         8 . A method, comprising:
 receiving images of a patient from an imaging device;   moving a needle positioning device to a position near a patient cradle of the imaging device when the patient cradle is disposed at a location outside of an imaging space of the imaging device;   determining, based at least in part on the received images, a target location to position a needle guide of the needle positioning device, the target location being relative to a patient disposed on the patient cradle and being outside of the imaging space; and   causing the needle guide to be moved to the target location such that a needle can be inserted through an opening of the needle guide and into the patient at an insertion point and to a target point on the patient.   
     
     
         9 . The method of  claim 8 , further comprising:
 determining the location outside of the imaging space to move the patient cradle.   
     
     
         10 . The method of  claim 8 , further comprising:
 receiving imaging data associated with the patient from the imaging device; and   determining the location outside of the imaging space to move the patient cradle based at least in part on the imaging data.   
     
     
         11 . The method of  claim 8 , further comprising:
 receiving imaging data associated with the patient from the imaging device; and   determining the insertion point and the target point on the patient based at least in part on the imaging data received from the imaging device.   
     
     
         12 . The method of  claim 8 , further comprising:
 determining the insertion point and the target point on the patient, and   the determining the target location to position the needle guide being based at least in part on the insertion point and the target point.   
     
     
         13 . The method of  claim 8 , further comprising:
 determining the insertion point and the target point on the patient, and   the determining the target location to position the needle guide being based at least in part on the insertion point, the target point and a length of the needle to be inserted into the insertion point on the patient.   
     
     
         14 . The method of  claim 8 , wherein the causing the needle guide to be moved to the target location includes causing the needle guide to be moved to a fixed target location relative to the patient. 
     
     
         15 . The method of  claim 8 , wherein the determining a target location to position a needle guide of the needle positioning device includes determining the target location outside of the imaging space of the imaging system. 
     
     
         16 . A method, comprising:
 receiving images of a patient from an imaging device;   determining based at least in part on the received images, a target location to position a needle guide of a needle positioning device, the target location being relative to the patient disposed on a patient cradle of the imaging device and being disposed outside an imaging space of the imaging device;   causing the needle guide to be moved to the target location; and   maintaining the needle guide in a fixed position at the target location such that a needle can be inserted through an opening of the needle guide and into the patient at an insertion point and inserted into a target point within the patient.   
     
     
         17 . The method of  claim 16 , further comprising:
 prior to determining a target location, determining a location to position the needle positioning device relative to the imaging device when the patient cradle of the imaging device is at a location outside of an imaging space of the imaging device.   
     
     
         18 . The method of  claim 16 , further comprising:
 receiving imaging data associated with the patient from the imaging device; and   determining a location outside of the imaging space to move the patient cradle based at least in part on the imaging data.   
     
     
         19 . The method of  claim 16 , further comprising:
 determining the insertion point and the target point,   the determining the target location to position the needle guide being based at least in part on the insertion point, the target point and a length of the needle to be inserted into the insertion point on the patient and into the target point within the patient.   
     
     
         20 . The method of  claim 16 , further comprising:
 receiving imaging data associated with the patient from the imaging device; and   determining the insertion point and the target point based at least in part on the imaging data received from the imaging device.